.

Author: faikit

public/EgoHumanoid/assets/ pipeline/pointcloud.ply

@@ -0,0 +1,61 @@
+"""
+点云降采样脚本
+使用 Open3D 对 pointcloud.ply 进行体素降采样（Voxel Downsampling）
+"""
+
+import argparse
+import os
+import open3d as o3d
+
+
+def downsample(input_path, output_path, voxel_size):
+    """
+    对点云进行体素降采样
+
+    参数:
+        input_path: 输入点云文件路径
+        output_path: 输出点云文件路径
+        voxel_size: 体素大小，越大降采样越多（单位与点云坐标一致）
+    """
+    print(f"读取点云: {input_path}")
+    pcd = o3d.io.read_point_cloud(input_path)
+    original_count = len(pcd.points)
+    print(f"原始点数: {original_count:,}")
+
+    print(f"体素大小: {voxel_size}")
+    pcd_down = pcd.voxel_down_sample(voxel_size=voxel_size)
+    downsampled_count = len(pcd_down.points)
+    ratio = downsampled_count / original_count * 100
+
+    print(f"降采样后点数: {downsampled_count:,} ({ratio:.1f}%)")
+    print(f"减少了: {original_count - downsampled_count:,} 个点")
+
+    o3d.io.write_point_cloud(output_path, pcd_down, write_ascii=False)
+    
+    input_size = os.path.getsize(input_path) / (1024 * 1024)
+    output_size = os.path.getsize(output_path) / (1024 * 1024)
+    print(f"文件大小: {input_size:.1f}MB -> {output_size:.1f}MB")
+    print(f"保存至: {output_path}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="点云降采样工具")
+    parser.add_argument(
+        "-i", "--input",
+        default="pointcloud.ply",
+        help="输入点云文件路径 (默认: pointcloud.ply)",
+    )
+    parser.add_argument(
+        "-o", "--output",
+        default="pointcloud_downsampled.ply",
+        help="输出点云文件路径 (默认: pointcloud_downsampled.ply)",
+    )
+    parser.add_argument(
+        "-v", "--voxel-size",
+        type=float,
+        default=0.01,
+        help="体素大小，越大降采样越多 (默认: 0.01)",
+    )
+    args = parser.parse_args()
+
+    downsample(args.input, args.output, args.voxel_size)

public/EgoHumanoid/assets/D.png

@@ -61,18 +61,41 @@ function copyCitation() {
     setTimeout(() => btn.textContent = 'Copy', 2000);
 }
 
-// Charts
-const chartColors = { robot: '#4A90D9', cotrain: '#00D4AA', grid: 'rgba(255,255,255,0.05)' };
+// Charts - Updated with blue color scheme
+const chartColors = { 
+    robot: '#2563EB',      // Primary blue
+    cotrain: '#10B981',    // Accent green
+    grid: 'rgba(37,99,235,0.08)' 
+};
+
 const chartOptions = {
     responsive: true,
     maintainAspectRatio: false,
     plugins: {
         legend: { display: false },
-        tooltip: { backgroundColor: 'rgba(10,10,15,0.9)', titleColor: '#fff', bodyColor: '#8B8B9E', borderColor: 'rgba(255,255,255,0.1)', borderWidth: 1, padding: 12, cornerRadius: 8 }
+        tooltip: { 
+            backgroundColor: 'rgba(30,41,59,0.95)', 
+            titleColor: '#fff', 
+            bodyColor: '#94A3B8', 
+            borderColor: 'rgba(37,99,235,0.2)', 
+            borderWidth: 1, 
+            padding: 12, 
+            cornerRadius: 8 
+        }
     },
     scales: {
-        x: { grid: { color: chartColors.grid }, ticks: { color: '#8B8B9E' } },
-        y: { grid: { color: chartColors.grid }, ticks: { color: '#8B8B9E' }, min: 0, max: 100 }
+        x: { 
+            grid: { color: chartColors.grid }, 
+            ticks: { color: '#64748B' },
+            border: { color: 'rgba(37,99,235,0.15)' }
+        },
+        y: { 
+            grid: { color: chartColors.grid }, 
+            ticks: { color: '#64748B' }, 
+            min: 0, 
+            max: 100,
+            border: { color: 'rgba(37,99,235,0.15)' }
+        }
     }
 };
 
@@ -83,8 +106,8 @@ if (inDomainCtx) {
         data: {
             labels: ['Pillow', 'Trash', 'Toy', 'Cart', 'Average'],
             datasets: [
-                { label: 'Robot-only', data: [60, 61.3, 47.5, 42.5, 58.8], backgroundColor: chartColors.robot, borderRadius: 6 },
-                { label: 'Co-training', data: [85, 97.5, 70, 42.5, 78.4], backgroundColor: chartColors.cotrain, borderRadius: 6 }
+                { label: 'Robot-only', data: [60, 85, 47.5, 42.5, 58.8], backgroundColor: chartColors.robot, borderRadius: 6 },
+                { label: 'Co-training', data: [85, 97.5, 61.3, 70, 78.4], backgroundColor: chartColors.cotrain, borderRadius: 6 }
             ]
         },
         options: chartOptions
@@ -115,8 +138,183 @@ document.querySelectorAll('a[href^="#"]').forEach(anchor => {
     });
 });
 
-// Nav background
+// Nav background - transparent on hero, solid when scrolled
 const nav = document.querySelector('.nav');
 window.addEventListener('scroll', () => {
-    nav.style.background = window.scrollY > 50 ? 'rgba(10, 10, 15, 0.95)' : 'rgba(10, 10, 15, 0.85)';
+    if (window.scrollY > 80) {
+        nav.classList.add('scrolled');
+    } else {
+        nav.classList.remove('scrolled');
+    }
+});
+
+// Side Navigation - Active section tracking
+const sideNavItems = document.querySelectorAll('.side-nav-item');
+const sections = document.querySelectorAll('section[id], .hero[id]');
+
+const sectionObserver = new IntersectionObserver((entries) => {
+    entries.forEach(entry => {
+        if (entry.isIntersecting) {
+            const id = entry.target.getAttribute('id');
+            sideNavItems.forEach(item => {
+                item.classList.remove('active');
+                if (item.getAttribute('data-section') === id) {
+                    item.classList.add('active');
+                }
+            });
+        }
+    });
+}, { 
+    threshold: 0.2,
+    rootMargin: '-10% 0px -70% 0px'
+});
+
+sections.forEach(section => sectionObserver.observe(section));
+
+// Side nav smooth scroll
+sideNavItems.forEach(item => {
+    item.addEventListener('click', function(e) {
+        e.preventDefault();
+        const targetId = this.getAttribute('href');
+        const target = document.querySelector(targetId);
+        if (target) {
+            target.scrollIntoView({ behavior: 'smooth', block: 'start' });
+        }
+    });
 });
+
+// Scaling Analysis Charts - Data from scaling.py
+const scalingColors = {
+    ratio_1_2: '#3A8DC1',  // Blue
+    ratio_1_1: '#5AAE61',  // Green
+    ratio_2_1: '#E5A835'   // Orange
+};
+
+// Raw data from scaling.py
+const scalingRawData = {
+    pillow: { '1:2': [0, 65, 90, 97.5], '1:1': [0, 77.5, 85, 80], '2:1': [0, 82.5, 85, 80] },
+    trash: { '1:2': [55, 80, 92.5, 87.5], '1:1': [55, 80, 95, 82.5], '2:1': [55, 95, 87.5, 85] },
+    toy: { '1:2': [37.5, 35, 68.75, 58.75], '1:1': [37.5, 41.25, 58.75, 71.25], '2:1': [37.5, 41.25, 61.25, 78.75] },
+    cart: { '1:2': [31.25, 26.25, 38.75, 50], '1:1': [31.25, 40, 58.75, 52.5], '2:1': [31.25, 67.5, 41.25, 65] }
+};
+
+// Calculate average for each ratio
+function calcAverage(ratio) {
+    return [0, 1, 2, 3].map(i => 
+        (scalingRawData.pillow[ratio][i] + scalingRawData.trash[ratio][i] + scalingRawData.toy[ratio][i] + scalingRawData.cart[ratio][i]) / 4
+    );
+}
+
+scalingRawData.average = {
+    '1:2': calcAverage('1:2'),
+    '1:1': calcAverage('1:1'),
+    '2:1': calcAverage('2:1')
+};
+
+const scalingLabels = ['0', '100', '200', '300'];
+
+const scalingChartOptions = {
+    responsive: true,
+    maintainAspectRatio: true,
+    aspectRatio: 1,
+    plugins: {
+        legend: { display: false },
+        tooltip: {
+            backgroundColor: 'rgba(30, 41, 59, 0.95)',
+            titleColor: '#fff',
+            bodyColor: '#94A3B8',
+            borderColor: 'rgba(37, 99, 235, 0.2)',
+            borderWidth: 1,
+            padding: 12,
+            cornerRadius: 8
+        }
+    },
+    scales: {
+        x: {
+            grid: { color: 'rgba(0, 0, 0, 0.06)' },
+            ticks: { color: '#666666', font: { size: 12 } },
+            border: { color: '#CCCCCC' },
+            title: { display: true, text: 'Human Demos', color: '#555555', font: { size: 13, weight: 'bold' } }
+        },
+        y: {
+            grid: { color: 'rgba(0, 0, 0, 0.06)' },
+            ticks: { color: '#666666', font: { size: 12 } },
+            min: 0,
+            max: 100,
+            border: { color: '#CCCCCC' }
+        }
+    }
+};
+
+function createScalingChart(canvasId, taskKey) {
+    const ctx = document.getElementById(canvasId);
+    if (!ctx) return null;
+    
+    const taskData = scalingRawData[taskKey];
+    
+    return new Chart(ctx, {
+        type: 'line',
+        data: {
+            labels: scalingLabels,
+            datasets: [
+                {
+                    label: 'Robot:Human 1:2',
+                    data: taskData['1:2'],
+                    borderColor: scalingColors.ratio_1_2,
+                    backgroundColor: scalingColors.ratio_1_2 + '20',
+                    fill: false,
+                    tension: 0.3,
+                    pointRadius: 6,
+                    pointBackgroundColor: scalingColors.ratio_1_2,
+                    pointBorderColor: '#FFFFFF',
+                    pointBorderWidth: 2,
+                    pointHoverRadius: 8,
+                    borderWidth: 3
+                },
+                {
+                    label: 'Robot:Human 1:1',
+                    data: taskData['1:1'],
+                    borderColor: scalingColors.ratio_1_1,
+                    backgroundColor: scalingColors.ratio_1_1 + '20',
+                    fill: false,
+                    tension: 0.3,
+                    pointRadius: 6,
+                    pointBackgroundColor: scalingColors.ratio_1_1,
+                    pointBorderColor: '#FFFFFF',
+                    pointBorderWidth: 2,
+                    pointHoverRadius: 8,
+                    borderWidth: 3
+                },
+                {
+                    label: 'Robot:Human 2:1',
+                    data: taskData['2:1'],
+                    borderColor: scalingColors.ratio_2_1,
+                    backgroundColor: scalingColors.ratio_2_1 + '20',
+                    fill: false,
+                    tension: 0.3,
+                    pointRadius: 6,
+                    pointBackgroundColor: scalingColors.ratio_2_1,
+                    pointBorderColor: '#FFFFFF',
+                    pointBorderWidth: 2,
+                    pointHoverRadius: 8,
+                    borderWidth: 3
+                }
+            ]
+        },
+        options: scalingChartOptions
+    });
+}
+
+let scalingCharts = {};
+
+function initScalingCharts() {
+    // Create all 5 charts
+    scalingCharts.average = createScalingChart('scalingAverage', 'average');
+    scalingCharts.pillow = createScalingChart('scalingPillow', 'pillow');
+    scalingCharts.trash = createScalingChart('scalingTrash', 'trash');
+    scalingCharts.toy = createScalingChart('scalingToy', 'toy');
+    scalingCharts.cart = createScalingChart('scalingCart', 'cart');
+}
+
+// Initialize charts
+initScalingCharts();